We are trying to show multiple robot postions(and status) in a rviz from a sever, I created a robot App based on amcl by the instruction in ROS wiki. The detail of my modification based on multinav_concert in the ROCON's hydro is as follows:

Create a robot app : nav_test.interface which content is:

subscribers:   
 - map
 - map_metadata 
 - move_base_simple/goal 
 - initialpose
publishers: 
 - robot_pose
 - amcl_pose
services: []
action_clients: []
action_servers:  
- move_base 

2 , The content of nav_test.launch is:

<launch>
  <include file="$(find turtlebot_navigation)/launch/amcl_infocenter.launch"/>
  <node pkg="robot_pose_publisher" name="robot_pose_publisher" type="robot_pose_publisher">
  <rosparam>
    is_stamped: true
    base_frame: base_footprint
  </rosparam>
  </node>
</launch>

Other places such as implementation.yaml, in the directory orchestration and multinav.rapps, nav_test.rapp are also modified.

But I found amcl_infocenter.launch was not launched. Please tell me the reason, THank you!

Ok， Now I sucessfully launch amcl node in a turtlebot, with concert.launch and multinavdatabaseclient.launch in a server computer. But the amcl node launched by amclinfocenter.launch doesn't launch map server. I thought the map data was shared among computers. So why the turtlebot running softnavbot_client.launch can't recieve map data from server? Thank you!

Dear @jihoonl Even running multinavconcert package with original navdemo, the info of topic /map in the master running softnavbotclient.launch is shown as:

Type: nav_msgs/OccupancyGrid
Publishers: None
Subscribers:  * /softbot/move_base (http://TTBA:37142/) 

Why this topic /map doesn't have publisher? If so, where does the map data in this master come from? It is certainly that the map data is from the master runnning multinavdatabaseclient.launch, but I can't understand how it is transfered to another master running softnavbotclient.launch